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Correct me if I'm wrong, but this may be an order of operations style flaw. I think what may be bugging out is that you may have keyframed things before grouping them.
Let's say you take a cube, clone that to make a smaller cube and another cube to it's side. So you got three cubes in a line. If you group the first two cubes together, then go into that group and keyframe the second cube to move around the first, everything will work as intended. But if you then say bring the third cube into that group and make it a subgroup with the second cube, when you hit play, the second cube will move according to the keyframes, but the third cube won't.
However, if you instead of doing that you first group the second and third cubes together, then add the first cube so you have a hierarchy of (1 + (2 + 3) ) then when you keyframe inner group of the second and third cube, the third cube should move along with the second cube as you would expect. Then you can keyframe the third cube by itself to make it move along with the second cube, but also do it's own thing relative to the second cube.
I hope that makes sense, if it doesn't, hit me up on PSN ( Kalapixie ) and I'll send you a video or set of images detailing it more properly.
I had similar issues trying to make a custom animated robit that wasn't using the puppet, for this weeks jam.